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Prince Charles and Camilla, Duchess of Cornwall were joined by Prince William and Kate Middleton for a day-long visit to Leicestershire.

2 of 18Attribution: PA/AAP

This is the first time in nine years both couples have done a joint engagement.

Of course as senior royals, they have all been together at a number of large family engagements, however, this marks their first official outing as a foursome since 2011, when they came together for a Prince's Trust concert.

3 of 18Attribution: Getty

Their first stop was a visit to a visit to the Defence Medical Rehabilitation Centre Stanford Hall, Stanford on Soar, Loughborough.

4 of 18Attribution: Getty

There, the royals met with patients and staff and had a tour of the gym and prosthetics workshop